新型线驱动式微创手术器械结构设计与运动学分析
赵万博,陈赛旋,姜官武,李荣,章宇

Structural design and kinematics analysis of new cable-driven minimally invasive surgical instrument
Wanbo ZHAO,Saixuan CHEN,Guanwu JIANG,Rong LI,Yu ZHANG
表1 新型线驱动式手术器械的D-H参数
Table 1 D-H parameters of new cable-driven surgical instrument
连杆iαi/°ai/mmdi/mmθi/°
1900d1θ1
20a20θ2+90
390a30θ3
490a40θ4